关键词: 智能车辆, 可变速, 车道变换, 动态目标位置

Abstract: In this paper，an approach of variable-speed lane-change control of vehicle，taking account of lateral and vertical control，was proposed.A variable-speed movement model of four-wheeled vehicle was developed first，and then a dynamic target position concept was used for a control mechanism.Additionally，a controller with controlling lateral motion and vertical motion of vehicle was designed by using the fuzzy logic as a control strategy，the T-S fuzzy model as its structure and an adaptive neural network as a means of adjusting membership function.The simulation result showed that the control approach was feasible and effective，and could simulate lane changing characteristic of vehicle in actual traffic situation well.

Key words: intelligent vehicles, variable-speed, lane changing, dynamic target position